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<a href="motor__control_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span> </div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#ifndef __MOTOR_CONTORL_H</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#define __MOTOR_CONTORL_H</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span> </div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#include &lt;stdint.h&gt;</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="preprocessor">#include &quot;main.h&quot;</span> <span class="comment">// stm32 hal</span></div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="preprocessor">#include &quot;<a class="code" href="ris__protocol_8h.html">ris_protocol.h</a>&quot;</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="preprocessor">#pragma pack(1)</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="union_c_o_m_data32.html">   18</a></span><span class="keyword">typedef</span> <span class="keyword">union</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>{</div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>    int32_t     L;</div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>    uint8_t     u8[4];</div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>    uint16_t    u16[2];</div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>    uint32_t    u32;</div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>    <span class="keywordtype">float</span>       F;</div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>} <a class="code hl_union" href="union_c_o_m_data32.html">COMData32</a>;</div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"><a class="line" href="struct_c_o_m_head.html">   27</a></span><span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>{</div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>    <span class="comment">// 定义 数据包头</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>    <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> start[2]; <span class="comment">// 包头</span></div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>    <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> motorID;  <span class="comment">// 电机ID  0,1,2,3 ...   0xBB 表示向所有电机广播（此时无返回）</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>    <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> reserved;</div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>} <a class="code hl_struct" href="struct_c_o_m_head.html">COMHead</a>;</div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span> </div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"><a class="line" href="struct_servo_comd_v3.html">   35</a></span><span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>{ <span class="comment">// 以 4个字节一组排列 ，不然编译器会凑整</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    <span class="comment">// 定义 数据</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>    uint8_t mode;       <span class="comment">// 当前关节模式</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>    uint8_t ReadBit;    <span class="comment">// 电机控制参数修改     是否成功位</span></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>    int8_t Temp;        <span class="comment">// 电机当前平均温度</span></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>    uint8_t MError;     <span class="comment">// 电机错误 标识</span></div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span> </div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>    <a class="code hl_union" href="union_c_o_m_data32.html">COMData32</a> Read;     <span class="comment">// 读取的当前 电机 的控制数据</span></div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    int16_t T;          <span class="comment">// 当前实际电机输出力矩       7 + 8 描述</span></div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span> </div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    int16_t W;          <span class="comment">// 当前实际电机速度（高速）   8 + 7 描述</span></div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>    <span class="keywordtype">float</span> LW;           <span class="comment">// 当前实际电机速度（低速）</span></div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span> </div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>    int16_t W2;         <span class="comment">// 当前实际关节速度（高速）   8 + 7 描述</span></div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>    <span class="keywordtype">float</span> LW2;          <span class="comment">// 当前实际关节速度（低速）</span></div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span> </div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    int16_t Acc;        <span class="comment">// 电机转子加速度       15+0 描述  惯量较小</span></div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>    int16_t OutAcc;     <span class="comment">// 输出轴加速度         12+3 描述  惯量较大</span></div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span> </div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    int32_t Pos;        <span class="comment">// 当前电机位置（主控0点修正，电机关节还是以编码器0点为准）</span></div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    int32_t Pos2;       <span class="comment">// 关节编码器位置(输出编码器)</span></div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span> </div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    int16_t gyro[3];    <span class="comment">// 电机驱动板6轴传感器数据</span></div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    int16_t acc[3];</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span> </div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    <span class="comment">// 力传感器的数据</span></div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    int16_t Fgyro[3];</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    int16_t Facc[3];</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>    int16_t Fmag[3];</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    uint8_t Ftemp;      <span class="comment">// 8位表示的温度  7位（-28~100度）  1位0.5度分辨率</span></div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span> </div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    int16_t Force16;    <span class="comment">// 力传感器高16位数据</span></div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    int8_t Force8;      <span class="comment">// 力传感器低8位数据</span></div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span> </div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>    uint8_t FError;     <span class="comment">//  足端传感器错误标识</span></div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span> </div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    int8_t Res[1];      <span class="comment">// 通讯 保留字节</span></div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span> </div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>} <a class="code hl_struct" href="struct_servo_comd_v3.html">ServoComdV3</a>; <span class="comment">// 加上数据包的包头 和CRC 78字节（4+70+4）</span></div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span> </div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"><a class="line" href="struct_motor_data__t.html">   76</a></span><span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>{</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>    uint8_t head[2];    <span class="comment">// 包头         2Byte</span></div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    <a class="code hl_struct" href="struct_r_i_s___mode__t.html">RIS_Mode_t</a> mode;    <span class="comment">// 电机控制模式  1Byte</span></div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    <a class="code hl_struct" href="struct_r_i_s___fbk__t.html">RIS_Fbk_t</a>   fbk;    <span class="comment">// 电机反馈数据 11Byte</span></div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>    uint16_t  CRC16;    <span class="comment">// CRC          2Byte</span></div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>} <a class="code hl_struct" href="struct_motor_data__t.html">MotorData_t</a>;  <span class="comment">//返回数据</span></div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span> </div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"><a class="line" href="struct_low_hz_motor_cmd.html">   84</a></span><span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>{</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>    uint8_t none[8];            <span class="comment">// 保留</span></div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span> </div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>} <a class="code hl_struct" href="struct_low_hz_motor_cmd.html">LowHzMotorCmd</a>;</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span> </div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"><a class="line" href="struct_master_comd_v3.html">   90</a></span><span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>{                               <span class="comment">// 以 4个字节一组排列 ，不然编译器会凑整</span></div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>                                <span class="comment">// 定义 数据</span></div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    uint8_t mode;               <span class="comment">// 关节模式选择</span></div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>    uint8_t ModifyBit;          <span class="comment">// 电机控制参数修改位</span></div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>    uint8_t ReadBit;            <span class="comment">// 电机控制参数发送位</span></div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    uint8_t reserved;</div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span> </div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>    <a class="code hl_union" href="union_c_o_m_data32.html">COMData32</a> Modify;           <span class="comment">// 电机参数修改 的数据</span></div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    <span class="comment">//实际给FOC的指令力矩为：</span></div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>    <span class="comment">// K_P*delta_Pos + K_W*delta_W + T</span></div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>    int16_t T;                  <span class="comment">// 期望关节的输出力矩（电机本身的力矩）x256, 7 + 8 描述</span></div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>    int16_t W;                  <span class="comment">// 期望关节速度 （电机本身的速度） x128,       8 + 7描述</span></div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>    int32_t Pos;                <span class="comment">// 期望关节位置 x 16384/6.2832, 14位编码器（主控0点修正，电机关节还是以编码器0点为准）</span></div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span> </div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>    int16_t K_P;                <span class="comment">// 关节刚度系数 x2048  4+11 描述</span></div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>    int16_t K_W;                <span class="comment">// 关节速度系数 x1024  5+10 描述</span></div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span> </div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>    uint8_t LowHzMotorCmdIndex; <span class="comment">// 保留</span></div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>    uint8_t LowHzMotorCmdByte;  <span class="comment">// 保留</span></div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span> </div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>    <a class="code hl_union" href="union_c_o_m_data32.html">COMData32</a> Res[1];           <span class="comment">// 通讯 保留字节  用于实现别的一些通讯内容</span></div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span> </div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>} <a class="code hl_struct" href="struct_master_comd_v3.html">MasterComdV3</a>; <span class="comment">// 加上数据包的包头 和CRC 34字节</span></div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span> </div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"><a class="line" href="struct_control_data__t.html">  115</a></span><span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>{</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>    <span class="comment">// 定义 电机控制命令数据包</span></div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>    uint8_t head[2];    <span class="comment">// 包头         2Byte</span></div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>    <a class="code hl_struct" href="struct_r_i_s___mode__t.html">RIS_Mode_t</a> mode;    <span class="comment">// 电机控制模式  1Byte</span></div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>    <a class="code hl_struct" href="struct_r_i_s___comd__t.html">RIS_Comd_t</a> comd;    <span class="comment">// 电机期望数据 12Byte</span></div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>    uint16_t   CRC16;   <span class="comment">// CRC          2Byte</span></div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>} <a class="code hl_struct" href="struct_control_data__t.html">ControlData_t</a>;     <span class="comment">//电机控制命令数据包</span></div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span> </div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span><span class="preprocessor">#pragma pack()</span></div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span> </div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"><a class="line" href="struct_m_o_t_o_r__send.html">  126</a></span><span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>{</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>    <span class="comment">// 定义 发送格式化数据</span></div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>    <a class="code hl_struct" href="struct_control_data__t.html">ControlData_t</a> motor_send_data;   <span class="comment">//电机控制数据结构体</span></div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>    <span class="keywordtype">int</span> hex_len;                        <span class="comment">//发送的16进制命令数组长度, 34</span></div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>    <span class="keywordtype">long</span> <span class="keywordtype">long</span> send_time;                <span class="comment">//发送该命令的时间, 微秒(us)</span></div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>    <span class="comment">// 待发送的各项数据</span></div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>    <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> id;                  <span class="comment">//电机ID，0代表全部电机</span></div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>    <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> mode;                <span class="comment">// 0:空闲, 5:开环转动, 10:闭环FOC控制</span></div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>    <span class="comment">//实际给FOC的指令力矩为：</span></div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>    <span class="comment">// K_P*delta_Pos + K_W*delta_W + T</span></div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>    <span class="keywordtype">float</span> T;                            <span class="comment">//期望关节的输出力矩（电机本身的力矩）（Nm）</span></div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>    <span class="keywordtype">float</span> W;                            <span class="comment">//期望关节速度（电机本身的速度）(rad/s)</span></div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>    <span class="keywordtype">float</span> Pos;                          <span class="comment">//期望关节位置（rad）</span></div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>    <span class="keywordtype">float</span> K_P;                          <span class="comment">//关节刚度系数</span></div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>    <span class="keywordtype">float</span> K_W;                          <span class="comment">//关节速度系数</span></div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>    <a class="code hl_union" href="union_c_o_m_data32.html">COMData32</a> Res;                    <span class="comment">// 通讯 保留字节  用于实现别的一些通讯内容</span></div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>} <a class="code hl_struct" href="struct_m_o_t_o_r__send.html">MOTOR_send</a>;</div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span> </div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"><a class="line" href="struct_m_o_t_o_r__recv.html">  145</a></span><span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>{</div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>    <span class="comment">// 定义 接收数据</span></div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>    <a class="code hl_struct" href="struct_motor_data__t.html">MotorData_t</a> motor_recv_data;    <span class="comment">//电机接收数据结构体，详见motor_msg.h</span></div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>    <span class="keywordtype">int</span> hex_len;                        <span class="comment">//接收的16进制命令数组长度, 78</span></div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>    <span class="keywordtype">long</span> <span class="keywordtype">long</span> resv_time;                <span class="comment">//接收该命令的时间, 微秒(us)</span></div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>    <span class="keywordtype">int</span> correct;                        <span class="comment">//接收数据是否完整（1完整，0不完整）</span></div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>    <span class="comment">//解读得出的电机数据</span></div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>    <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> motor_id;             <span class="comment">//电机ID</span></div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>    <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> mode;                 <span class="comment">// 0:空闲, 5:开环转动, 10:闭环FOC控制</span></div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>    <span class="keywordtype">int</span> Temp;                           <span class="comment">//温度</span></div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>    <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> MError;               <span class="comment">//错误码</span></div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>    <span class="keywordtype">float</span> T;                            <span class="comment">// 当前实际电机输出力矩</span></div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>        <span class="keywordtype">float</span> W;                                                        <span class="comment">// speed</span></div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>    <span class="keywordtype">float</span> Pos;                          <span class="comment">// 当前电机位置（主控0点修正，电机关节还是以编码器0点为准）</span></div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>        <span class="keywordtype">float</span> footForce;                                                <span class="comment">// 足端气压传感器数据 12bit (0-4095)</span></div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span> </div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>} <a class="code hl_struct" href="struct_m_o_t_o_r__recv.html">MOTOR_recv</a>;</div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span> </div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span><span class="preprocessor">#define SET_485_DE_UP() HAL_GPIO_WritePin(RS485_DE_GPIO_Port, RS485_DE_Pin, GPIO_PIN_SET)</span></div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span><span class="preprocessor">#define SET_485_DE_DOWN() HAL_GPIO_WritePin(RS485_DE_GPIO_Port, RS485_DE_Pin, GPIO_PIN_RESET)</span></div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span> </div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span><span class="preprocessor">#define SET_485_RE_UP() HAL_GPIO_WritePin(RS485_RE_GPIO_Port, RS485_RE_Pin, GPIO_PIN_SET)</span></div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span><span class="preprocessor">#define SET_485_RE_DOWN() HAL_GPIO_WritePin(RS485_RE_GPIO_Port, RS485_RE_Pin, GPIO_PIN_RESET)</span></div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span> </div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>uint32_t crc32_core(uint32_t *ptr, uint32_t len);</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span><span class="keywordtype">int</span> modify_data(<a class="code hl_struct" href="struct_m_o_t_o_r__send.html">MOTOR_send</a> *motor_s);</div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span><span class="keywordtype">int</span> extract_data(<a class="code hl_struct" href="struct_m_o_t_o_r__recv.html">MOTOR_recv</a> *motor_r);</div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>HAL_StatusTypeDef SERVO_Send_recv(<a class="code hl_struct" href="struct_m_o_t_o_r__send.html">MOTOR_send</a> *pData, <a class="code hl_struct" href="struct_m_o_t_o_r__recv.html">MOTOR_recv</a> *rData);</div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span> </div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span><span class="preprocessor">#endif</span></div>
<div class="ttc" id="aris__protocol_8h_html"><div class="ttname"><a href="ris__protocol_8h.html">ris_protocol.h</a></div><div class="ttdoc">Go-M8010-6关节电机驱动 精简通讯指令集</div></div>
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<div class="ttc" id="astruct_m_o_t_o_r__recv_html"><div class="ttname"><a href="struct_m_o_t_o_r__recv.html">MOTOR_recv</a></div><div class="ttdef"><b>Definition</b> <a href="motor__control_8h_source.html#l00145">motor_control.h:146</a></div></div>
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<div class="ttc" id="astruct_motor_data__t_html"><div class="ttname"><a href="struct_motor_data__t.html">MotorData_t</a></div><div class="ttdef"><b>Definition</b> <a href="motor__control_8h_source.html#l00076">motor_control.h:77</a></div></div>
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<div class="ttc" id="aunion_c_o_m_data32_html"><div class="ttname"><a href="union_c_o_m_data32.html">COMData32</a></div><div class="ttdef"><b>Definition</b> <a href="motor__control_8h_source.html#l00018">motor_control.h:19</a></div></div>
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